#!/usr/bin/env python
import rospy
import message_filters
import numpy as np
from collections import Counter
from lidar_msgs.msg import Objects, Object, cell, cells
from math import pi


def get_radar(arg):
    return


def get_lidar(arg):
    pub = rospy.Publisher('/fusion', Objects, queue_size=10)
    a = Objects()
    pub.publish(a)
    return


def main():

    rospy.init_node('fusion', anonymous=True)
    rospy.Subscriber('/perception/radar', Objects,
                     get_radar, queue_size=10)
    rospy.Subscriber('/perception/lidar_cells', cells,
                     get_lidar, queue_size=10)
    print("start fusion")
    #rospy.Subscriber('/rfans_driver/rfans_points', PointCloud2, callback_pointcloud,queue_size=1,buff_size=52428800)
    rospy.spin()


if __name__ == "__main__":
    main()
